Electromagnetic action toy system

ABSTRACT

The present invention is typically configured as toy racecars and tracks, or model train sets but other toy and non-toy configurations are possible. It has a power supply, controller, track, and moveable object(s) such as a racecar or train. The moveable object(s) is a permanent magnet, or contains one or more permanent magnets, or one or more electrical conductors acting as electromagnets, positioned so as to travel general parallel to the surface of the track. The controller has operator interfaces such as switches and/or a potentiometer(s) for speed/motion input. The track is preferably one or more printed circuit boards with conductive traces configured such that the controller can power them. Current passes through the traces in a repetitive sequential order that causes the magnet/moveable object to be propelled along the track due to the Lorentz force generated by the electromagnetic field(s) acting on the conducting traces and the magnet(s).

CROSS-REFERENCE TO RELATED APPLICATION

This application is a divisional of U.S. application Ser. No.11/518,714, filed Sep. 11, 2006, which claims the benefit of U.S.Provisional Application No. 60/716,332, filed Sep. 12, 2005, both ofwhich are hereby incorporated by reference herein in their entireties.

FIELD OF THE INVENTION

The present invention relates generally to the field of amusementdevices. The present invention relates more particularly to electricaltoy action games such as racecar sets, train sets and others producingcontrolled movement of an object such as a racecar along a fixed orconfigurable track.

The present invention also relates to electric motors and actuatordevices such as linear motors and printed circuit motors.

BACKGROUND OF THE INVENTION

Typical slot car racing games use miniature model cars driven by anelectric motor and gears inside them to rotate the drive wheels andtires. Electrical power is provided to the motor via brushes, sometimescalled pick-up shoes, attached to the bottoms of the racecars that mustdrag on electrically energized conductive strips, sometimes called metaltrack rails, attached to the racetrack and connected to thecontroller/power supply. All of the components in the racecar wearamazingly fast and must be replaced often. In addition, the requirednumber of components limits the miniaturization of the racecar andtherefore the track. Another persistent problem is the accumulation ofdirt, oxidation, and debris on the conductive strips of the track and onthe racecar brushes, which interrupt the power supplied to the motor.This causes the racecar to move erratically or even stall. Cleaningthese items can be a tedious and time-consuming operation to someone(especially a child) that just wants to play a game.

One system has been proposed to overcome some of these problems, butwith extreme trade-offs. It uses a non-powered racecar that receives a“kick” from one or more spinning wheels affixed to a single location onthe track powered by an electric motor. The wheel(s) spin at a high rpmand accelerate any car that engages the wheel(s). The car then coastsaround the track until it reaches the spinning wheel(s) again. Theoperator may control the rpm of the spinning wheel(s) but has no controlof the racecar speed except at the one point in the track where the carengages the spinning wheel(s).

Linear motors are used for industrial systems and magnetic levitation(maglev) trains. These devices are complex and far too expensive for usein toy systems. The linear motors contain coils of copper wire withferrous cores distributed along the track, or even permanent magnetsdistributed along the track, or the moveable object itself has coilsthat must be electrically powered. Also the position of the moveableobject must be continuously sensed with sophisticated instrumentationand fed back to the controller for proper operation.

SUMMARY OF THE INVENTION

It is a primary object of the present invention to provide an improvedand low-cost miniature action toy.

Another related object is to provide such an improved toy that overcomesthe limitations and shortcomings of existing similar toys.

Other objects and advantages of the invention will be apparent from thefollowing detailed description and the accompanying drawings.

In accordance with the present invention, the foregoing objectives arerealized by providing a system comprised of an electrical power supply,control system, track, and moveable object(s) such as a racecar ortrain.

The electrical power supply may be either batteries or a modular powersupply plugged into house power or even automobile power such as from acigarette lighter socket.

The control system is preferably microcomputer based with an operatorinterface containing a potentiometer for speed/motion control by theoperator. The microcomputer primarily functions as a variable frequencymulti-phase oscillator to provide control signal outputs to theswitching amplifier circuitry, such as H-Bridges. The amplifiers in-turnsupply power from a current regulator to the track. The microcomputervaries the output frequency based on the operator's positioning of thetrigger attached to the potentiometer in the operator interface. Otherfunctions of the microcomputer will be detailed later.

The track is preferably a printed circuit board (PC board or PCB), alsoknown as a printed wiring board (PWB), with its conductive tracesconfigured such that they can be sequentially powered. The controlsystem passes electrical current through the printed circuit traces,typically in a repetitive sequential order that causes the magnet, andthus the attached moveable object, to be propelled along the track dueto the Lorentz force generated by the electromagnetic field acting onthe conductor (printed circuit traces) and the magnet. The printedcircuit track may be composed of a typical copper-clad non-conductivesubstrate and be single-sided, double-sided, or multi-layer and may beproduced by the typical chemical etching processes. Alternately, theconductive layers may be die-cut and assembled between non-conductivesubstrate layers, or the traces may be printed on a non-conductivesubstrate with conductive ink and then assembled in layers. Ground planelayers may be added above and below the trace layers to reduceemissions. Alternately, the conductors may be wires affixed to a trackin patterns to give the same effect as the printed circuit. More thanone lane may be on a single track to accommodate more than one moveableobject. Each lane would have its own operator interface althoughportions of the controller and power supply may be shared. Since themagnet of the moveable object always attempts to cross the printedcircuit traces at a 90-degree angle the moveable object tries to followthe track even around corners however, inertia will push it out of itslane in the corners if it is going very fast so guardrails may be usedfor each lane to allow higher speeds. Electrical current carryingprinted circuit traces may also be used as Lorentz force “guard rail”barriers on either or both sides of each lane along the track. As themoveable object approaches this trace, it will be repelled and pushedback toward the center of the lane. The printed circuit track may beflexible or rigid. Flexible printed circuit boards allow the racecar tobank, pass over other parts of the track (as for a figure eight), oreven race around a vertical loop. The track may also have jump ramps,moguls, or even “half pipes” as in skate parks. The track may be asingle printed circuit board or be numerous pieces of various shapes toallow configuration by the operator. Areas of a single board track, orindividual or groups of track pieces, may be electrically bypassed, whenthe moveable object is not present there, in order to reduce overallpower consumption and emissions. The printed circuit track is economicalto produce and requires modest tooling.

The moveable object such as a racecar is either an electromagnet,permanent magnet, or permanent magnet array, or has at least oneelectromagnet, permanent magnet, or ferromagnetic material positionedand attached generally flush with the surface(s) of the moveable objectadjacent to the track so as to move with the moveable object generallyparallel to the surface of the track. The moveable object may also havewheels and axles but they are not required. The moveable object may alsobe shaped like a human, racehorse, motorcycle, skateboard, boat,airplane, board game pieces, or any other object or animal as desired.The moveable object may also contain electric coils to induce power fromthe track to power devices in the car such as lights or even motors.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a side elevation of a model racecar containing a permanentmagnet positioned on top of a track that includes a single-sided printedcircuit board (“PCB”);

FIGS. 2 through 5 are plan views of the track of FIG. 1 with the racecarremoved for clarity but retaining the magnet, illustrating the movementof the magnet as various traces of the PCB are energized;

FIG. 6 is a partial plan view of a multi-layered PCB track configurationhaving guardrails on the track surface. The FIG. 7 is a cross-section ofFIG. 6;

FIGS. 8 through 13 are plan views of a track configuration with variouslayers removed for clarity. These figures show the movement of a magnetas the traces are energized as detailed in the table of FIG. 14 anddiagrams of FIG. 15 and FIG. 16;

FIG. 17 is an elevation view of a locomotive with magnets and anelectrical wire coil;

FIG. 18 is an elevation view of a speedboat-style moveable object withmagnets in a Halbach array configuration;

FIG. 19 is a plan view of a single board fixed configuration racetrack;

FIGS. 20 through 32 are various views of track sections foruser-configurable racetracks. FIG. 29 is a plan view of an interfacesection for connecting controllers and power to the racetracks;

FIG. 21 is a plan view of a flexible PCB track section in its pre-flexedstate.

FIG. 22 is an elevation plan view of the same. FIG. 23 is a plan view ofthe same section after flexure to form a banked curve. FIG. 24 is anelevation view of FIG. 23;

FIG. 31 is an elevation view of a flexible PCB track section configuredinto a loop. FIG. 8 is a plan view of FIG. 31 and FIG. 32 is a bottomview of the same;

FIG. 33 is an elevation view of a handheld operator interface showingthe potentiometer trigger lever speed controller and interface cablewith connector;

FIG. 34 is a perspective view of a typical modular power supply;

FIG. 35 is a block diagram of a typical embodiment of an electroniccontrol unit for an embodiment utilizing a microcomputer and switchingamplifiers;

FIG. 36 is a flow chart representing the algorithm of the electroniccontrol unit;

FIGS. 37 and 38 are another configuration of a multi-layered PCB trackdepicting narrow traces connected in series to simulate the effects ofwider traces but using lower current.

DETAILED DESCRIPTION OF THE ILLUSTRATED EMBODIMENTS

While the invention is susceptible to various modifications andalternate forms, specific embodiments thereof have been shown by way ofexamples in the drawings and will be described in detail. It should beunderstood, however, that they are not intended to limit the inventionto the particular forms described, but on the contrary, the intention isto cover all modifications, equivalents, and alternatives falling withinthe spirit and scope of the invention.

It is a primary object of the present invention to provide an improvedand low-cost miniature action toy.

Another related object is to provide such an improved toy that overcomesthe limitations and shortcomings of existing similar toys.

Other objects and advantages of the invention will be apparent from thefollowing detailed description and the accompanying drawings.

In accordance with the present invention, the foregoing objectives arerealized by providing a system comprised of an electrical power supply,control system, track, and moveable object(s) such as a racecar ortrain.

The electrical power supply may be either batteries or a modular powersupply plugged into house power or even automobile power such as from acigarette lighter socket.

The control system is preferably microcomputer based with an operatorinterface containing a potentiometer for speed/motion control by theoperator. The microcomputer primarily functions as a variable frequencymulti-phase oscillator to provide control signal outputs to theswitching amplifier circuitry, such as H-Bridges. The amplifiers in-turnsupply power from a current regulator to the track. The microcomputervaries the output frequency based on the operator's positioning of thetrigger attached to the potentiometer in the operator interface. Otherfunctions of the microcomputer will be detailed later.

The track is preferably a printed circuit board (PC board or PCB), alsoknown as a printed wiring board (PWB), with its conductive tracesconfigured such that they can be sequentially powered. The controlsystem passes electrical current through the printed circuit traces,typically in a repetitive sequential order that causes the magnet, andthus the attached moveable object, to be propelled along the track dueto the Lorentz force generated by the electromagnetic field acting onthe conductor (printed circuit traces) and the magnet. The printedcircuit track may be composed of a typical copper-clad non-conductivesubstrate and be single-sided, double-sided, or multi-layer and may beproduced by the typical chemical etching processes. Alternately, theconductive layers may be die-cut and assembled between non-conductivesubstrate layers, or the traces may be printed on a non-conductivesubstrate with conductive ink and then assembled in layers. Ground planelayers may be added above and below the trace layers to reduceemissions. Alternately, the conductors may be wires affixed to a trackin patterns to give the same effect as the printed circuit. More thanone lane may be on a single track to accommodate more than one moveableobject. Each lane would have its own operator interface althoughportions of the controller and power supply may be shared. Since themagnet of the moveable object always attempts to cross the printedcircuit traces at a 90-degree angle the moveable object tries to followthe track even around corners however, inertia will push it out of itslane in the corners if it is going very fast so guardrails may be usedfor each lane to allow higher speeds. Electrical current carryingprinted circuit traces may also be used as Lorentz force “guard rail”barriers on either or both sides of each lane along the track. As themoveable object approaches this trace, it will be repelled and pushedback toward the center of the lane. The printed circuit track may beflexible or rigid. Flexible printed circuit boards allow the racecar tobank, pass over other parts of the track (as for a figure eight), oreven race around a vertical loop. The track may also have jump ramps,moguls, or even “half pipes” as in skate parks. The track may be asingle printed circuit board or be numerous pieces of various shapes toallow configuration by the operator. Areas of a single board track, orindividual or groups of track pieces, may be electrically bypassed, whenthe moveable object is not present there, in order to reduce overallpower consumption and emissions. The printed circuit track is economicalto produce and requires modest tooling.

The moveable object such as a racecar is either an electromagnet,permanent magnet, or permanent magnet array, or has at least oneelectromagnet, permanent magnet, or ferromagnetic material positionedand attached generally flush with the surface(s) of the moveable objectadjacent to the track so as to move with the moveable object generallyparallel to the surface of the track. The moveable object may also havewheels and axles but they are not required. The moveable object may alsobe shaped like a human, racehorse, motorcycle, skateboard, boat,airplane, board game pieces, or any other object or animal as desired.The moveable object may also contain electric coils to induce power fromthe track to power devices in the car such as lights or even motors.

Turning now to the drawings, FIG. 1 is a side elevation of a shortsection of track 5 comprised of a thin single-sided printed circuitboard (PCB) with small rectangular copper traces, such as trace segments7 through 13, remaining on the lower surface of the nonconductive glasscloth/epoxy NEMA grade FR-4 substrate 6 after the typical masking andetching process used for making printed circuit boards for theelectronics industry. A moveable object shaped as a miniature modelracecar 1, with optional wheels such as 3 and 4, rests on the topsurface of the track 5. The racecar 1 is made of non-ferrous andnon-magnetic plastic but contains a permanent magnet 2 with its northpole in close proximity to the top surface of the track 5. FIG. 2 is atop plan view the track 5 and the magnet 2, with the racecar 1 removedfor clarity. Using the positive convention for electric flow, as anelectrical current i is passed through trace segment 11, anelectromagnetic field is generated around the trace segment 11. Thiselectromagnetic field interacts with the magnetic field of the permanentmagnet 2 to produce an electromagnetic force called the Lorentz Forcethat causes an attractive or repulsive force between the conductingtrace segment 11 and the magnet 2. The general direction of the forcecan be determined by the right-hand rule for force. If the magnitude ofthe current i is sufficient, the magnet 2 will accelerate generally inthe direction shown by the arrow F.

In FIG. 3 the magnet 2 has decelerated and stopped in the generalposition shown while the current i is still flowing through the tracesegment 11. The overall motion of the magnet 2 depicted in FIGS. 2 and 3is one increment of movement of the magnet 2 along the track 5, over thetrace segment 11.

In FIG. 4 the current i has been removed from trace segment 11 andapplied to trace segment 12. The process starts again, and the magnet 2traverses the trace segment 12 and stops in the general position shownin FIG. 5.

Although not utilized in this embodiment, it should be noted that if thedirection of the current i shown in FIGS. 3 and 5 is reversed, thedirection of the force is also reversed, according to the right-handrule. Similarly, if the magnet were inverted so that the south pole wasadjacent to the surface, the direction of the force would again bereversed, according to the right-hand rule.

Now if we imagine a much longer track with many more trace segments, andthe current is then applied to these segments one at a timesequentially, the magnet will continue to move along the track. As thecurrent is moved from one trace segment to the next at a faster andfaster pace, the motion of the magnet will smooth out because theattractive force of the subsequent trace segment will occur before themagnet comes to a complete stop at the end of its traversing movementover the previous trace segment.

The above descriptions and FIGS. 2-5 illustrate the general principle ofoperation, but it is not economically practical to build a controllercapable of powering each trace segment individually. FIGS. 6 through 16illustrate an embodiment that avoids the need for the controller toindividually power each trace segment. In FIGS. 6 and 7, a multi-layerPCB track 15 has a racecar 1 on the top surface of the track. FIG. 8 isa plan view of the track 15 with the racecar 1, top substrate 16,guardrails 17 and 18, and copper trace 21 removed for clarity. FIGS.9-13 are plan views of the track 15 with the racecar 1, top substrate16, and guardrails 17 and 18 removed for clarity. The magnet 2 has beenrepositioned as shown. The copper trace 20, labeled PHASE A, resides onthe upper surface of substrate 22 and begins at trace segment 20A andends at trace segment 201. The trace 20, or PHASE A, is comprised oftrace segments 20A, 20B, 20C, 20D, 20E, 20F, 20G, 20H, and 20I. FIG. 9clearly shows the copper trace 21, labeled PHASE B, comprised of tracesegments 21A, 21B, 21C, 21D, 21E, 21F, 20G, 21H, and 21I, which resideson the lower surface of substrate 22. The trace 21 PHASE B has a similarconstruction but its position is shifted on the substrate 22 withrespect to trace 20 PHASE A as shown. And now it will be described withthe switching sequences depicted in the table of FIG. 14, the timingdiagrams of FIGS. 15 and 16, the handheld controller 180 in FIG. 33, thepower supply 190 in FIG. 34, the block diagram 200 in FIG. 35, and theflow chart 220 in FIG. 36 how this embodiment will move the magnet 2along the track 15, as shown in FIGS. 10-13.

Referring to FIG. 33, a tough plastic, such as ABS (Acrylonitrile,Butadene, and Styrene) conforming to UL94V flammability rating, ismolded into the pistol-grip style handheld controller 180 as shown. Itinternally contains a printed circuit board assembly that has thefollowing components, as depicted in FIG. 35; speed controlpotentiometer 201 (such as a 5K Ohm, Single Turn, B taper, Bourns Inc.part number 3310C-001-502, available from Digi-Key Corporation, 701Brooks Avenue South, Thief River Falls, Minn., 56701), microcomputer 202(such as part number PIC16F819-I/P available from Microchip TechnologyIncorporated, 2355 West Chandler Blvd., Chandler, Ariz., USA85224-6199), amplifier A 203 (such as an H-Bridge amplifier circuitcomposed of two ST Microelectronics Darlington pair transistors, partnumber MJD112T4 for the H-Bridge low legs, and two ON Semiconductorsilicon controlled rectifiers part number MCR22-6RLRA, driven by Lite-OnIncorporated optoisolators part number LTV-847, for the H-Bridge highlegs, all also available from Digi-Key), amplifier B 204 (the componentsare identical to amplifier A), current regulator 207 (such as a NationalSemiconductor Incorporated part number LM2676T-ADJ, also available fromDigi-Key), and voltage regulator 208 (such as a National SemiconductorIncorporated part number LM2574N-5.0, also available from Digi-Key). Thetrigger 181 is attached to the speed control potentiometer 201 of FIG.35. The cable 183 and connector 182 are used to connect the controller180 to tracks as described later. The forward and reverse directionswitches F 184 and R 185 on the controller 180 of FIG. 33 are alsodepicted on FIG. 35.

The power supply 190 (such as a Cincon Electronics Co., Ltd part numberTR70A2402A03, available from Mouser Electronics, Incorporated, 1000North Main Street, Mansfield, Tex. 76063), shown in FIG. 34 and alsoFIG. 35. The cable 192 and connector 191 are used to connect it totracks as explained later. It is powered by typical household 110 voltsAC electrical power as depicted by block 209 of FIG. 35

For the following explanation a forward direction is assumed which meansthe F switch 184 of FIG. 33 has been selected by the operator. Nowreferring first to the flow chart 220 in FIG. 36, the microcomputer 202,shown in FIG. 35, begins performing the software instructions,programmed into its flash memory, at the start block 221. It proceeds toblock 223 where it reads the voltage across the speed controlpotentiometer 201, shown in FIG. 35. If the read voltage is zero, thisindicates that the operator is not squeezing the trigger 181 of FIG. 33,which is attached to the potentiometer 201 of FIG. 35. As long as thevoltage remains zero, a decision is made in block 224 of FIG. 36 to loopback to block 223.

The operator has now decided to move the magnet 2 of FIG. 10 so hesqueezes the trigger 181 of FIG. 33 which in-turn rotates thepotentiometer 201 of FIG. 35. A voltage will develop across thepotentiometer 201 of FIG. 35 proportional to the amount thepotentiometer is rotated. The next time the microcomputer 202 loopsthrough the block 223 of FIG. 36 this voltage will be read. The flowwill again proceed to block 224 but this time the voltage will not bezero so the flow will proceed to block 225. The microcomputer 202 willnow use a voltage versus switching delay value look-up table stored inits flash memory and represented by block 226 to find a correspondingswitching delay value that will produce the amplifiers' A 203 and B 204of FIG. 35, switching frequency required to achieve the operator'srequested speed for the magnet 2. The flow now proceeds to block 25 ofFIG. 36 where the microcomputer references the amplifiers' switchingsequences look-up table represented by block 228. The amplifier A 203 ofFIG. 35 is then turned on, step 229 loads the delay value into the delaytimer of block 28, and the current i, supplied by the power supply 190in FIGS. 34 and 35, is regulated by the current regulator 207 of FIG. 35and flows as follows: Referring now to FIGS. 10, 14, 15, 16, and 35, theelectrical current i applied at time t₁ to trace segment 20A flowsthrough the trace 20 PHASE A, as indicated by the arrows, and exits attrace segment 201. The resulting electromagnetic force F of FIG. 10moves the magnet 2 to the position shown in FIG. 11.

The delay timer of block 28 in FIG. 36 times out and the flow proceedsto the decision block 231 to determine whether the cycle is complete. Acycle is represented by the table of FIG. 14 and the diagrams FIGS. 15and 16. When decision block 231 determines that the cycle is notcomplete, the flow proceeds to block 232 of FIG. 36 where the address ofthe amplifiers' switching sequence look-up table is incremented to thenext sequence. The flow loops back to the block 25 where the amplifier A203 of FIG. 35 is turned off and amplifier B 204 is turned on. The flowproceeds to block 229 where the delay timer is reloaded with the samevalue looked-up previously.

Now as seen in FIGS. 11, 14, 15, 16, and 35, the current i applied attime t₂ to trace segment 21A flows through the trace 21 PHASE B, asindicated by the arrows, and exits at trace segment 21I. The resultingelectromagnetic force moves the magnet 2 to the position shown in FIG.12. The delay timer of block 28 FIG. 36 times out and the flow proceedsto the decision block 231. The cycle, as represented by the table ofFIG. 14 and the diagrams FIGS. 15 and 16, is not complete so the flowproceeds to block 232 of FIG. 36 where the address of the amplifiersswitching sequence look-up table is incremented to the next sequence.The flow proceeds to block 25 where the amplifier A 203 is turned on inreverse and the amplifier B 204 is turned off according to the nextsequence from the look-up table of block 228. The delay timer of block28 is reloaded with the same value looked-up previously, and the currenti, supplied by the power supply 190 in FIGS. 34 and 35, is regulated bythe current regulator 207 of FIG. 35 and flows as follows:

Referring now to FIGS. 12, 14, 15, 16, and 35 the electrical current iapplied at time t₃ to trace segment 201 flows through the trace 20 PHASEA, as indicated by the arrows, and exits at trace segment 20A. Theresulting electromagnetic force F of FIG. 12 moves the magnet 2 to theposition shown in FIG. 13. The delay timer of block 28 in FIG. 36 timesout and the flow proceeds to the decision block 231. The cycle, asrepresented by the table of FIG. 14 and the diagrams FIGS. 15 and 16, isnot complete so the flow proceeds to block 232 of FIG. 36 where theaddress of the amplifiers switching sequence look-up table isincremented to the next sequence. The flow loops back to the block 25where the amplifier A 203 of FIG. 35 is turned off and amplifier B 204is turned on in the reverse direction. The flow proceeds to block 229where the delay timer is reloaded with the same value looked-uppreviously.

Referring now to FIGS. 13, 14, 15, 16 and 35, the electrical current iapplied at time t₄ to trace segment 211 flows through the trace 21 PHASEB, as indicated by the arrows, and exits at trace segment 21A. Theresulting electromagnetic force moves the magnet 2 in the direction ofthe F arrow in FIG. 13 to a new position, not shown, just to theopposite side of the trace segment 21F. The delay 28 of FIG. 36 timesout and the flow proceeds to block 231 where according to the table ofFIG. 14 and the diagrams of FIGS. 15 and 16, the amplifiers switchingsequences have now completed a cycle. The flow proceeds to block 233 ofFIG. 36 where the amplifier B 204 is turned off. The amplifiers'switching sequences look-up table address is reset to the beginning ofthe look-up table and the flow proceeds back to block 223 where theprocess will start over again.

The magnet will continue along the track if a new cycle occurs beginningat a new time t₅ (not shown) that is electrically identical to time t₁of FIGS. 10, 14, 15 and 16. The cycling continues to repeat until theoperator releases the trigger 181 of the controller 180 in FIG. 33.

It should be noted, as best seen in FIG. 11, that the magnet 2 is notsignificantly affected by the current i flowing through trace segmentsbehind it, such as trace segment 21B, because the distance between themagnet 2 and the segment 21B is sufficient that the force between themdiminishes to near zero since the magnitude of the force is inverselyproportional to the square of the distance between them. This alsoapplies to the lateral trace segments such as segments 21C, 21E, 21G,and 21I. Similarly, this also applies to the trace 20 PHASE A.

It should also be noted that the reverse direction of the magnet 2 isachieved when the operator selects the R switch 185 of FIG. 33, alsodepicted on FIG. 35. This selection causes the microcomputer 202 to usea look-up table 235 of FIG. 36. This look-up table 235 defines a reverseamplifiers' switching sequence that is basically reversed from thesequence of the forward look-up table 228. This reverse sequence is asif the table of FIG. 14 is followed to complete a reverse cycle startingwith time t₄ then t₃ then t₂ and then t₁.

Referring again to FIGS. 6 and 7, optional copper traces 17 and 18located on the upper surface of the upper substrate 16 are used asguardrails. These guardrails are tall enough to impinge against the bodyof the racecar 1 if the racecar 1 moves far enough from the centerlineof its respective lane and therefore help to retain the racecar 1 withinits intended path. In addition to serving as physical retention devices,the guardrails 17 and 18 may also have an electromagnetic repulsioneffect. If the period of each pulse of FIGS. 15 and 16 is shortenedslightly, and a current i_(GR) is passed through the guardrails 17 and18 during the off-time of each phase, the magnet 2 in the racecar 1 willbe repelled by the resulting electromagnetic fields around theguardrails 17 and 18 (according to the right hand rule).

FIG. 17 is a moveable object in the form of a model locomotive 40containing a plurality of magnets 48, 49, and 50 for additional power todrive its longer body. The wheels 42, 43, 44, and 45 are optional. Anelectrical wire coil 46 is connected to a lamp 41. Current is induced inthe coil 46 as it passes over current-carrying trace segments. Thisinduced current flows to the lamp 41 to power it.

FIG. 18 illustrates a moveable object in the form of a model speedboat60 housing a magnetic array 61 known as a Halbach Array composed ofmagnets 62, 63, 64, 65, and 66. The Halbach Array concentrates itsmagnetic flux 67 and 68 on a single surface of the array, in this casethe bottom surface. This property reduces the attractive and repulsiveforces between moveable objects in different lanes on the same trackwhile concentrating the flux toward the track where it is required.

FIG. 19 is a plan view of a two-lane fixed configuration racetrack 70laid out on a single PCB 76. Multiple connectors 80, 81, and 82 are usedto connect controllers (see FIG. 33) and a power supply (see FIG. 34).The racecar 74 travels in the lane 77, and the racecar 75 travels in thelane 78. Each of these lanes 77 and 78 contains copper traces (notshown) that are configured and function just as those previouslydescribed for the track 15 of FIGS. 6, 7, 8, 9, 10, 11, 12, and 13. Theguardrails 71, 72, and 73 of FIG. 19 are composed of a thin layer of theFR-4 PCB substrate material attached to the surface of the PCB 76 tohelp retain the racecars 74 and 75 on the track 70.

FIGS. 20 through 32 are examples of sections of user-configurabletracks. FIG. 26 is a bottom plan view of a short section of straighttrack 110. FIG. 25 is an end elevation view of the same track section110. All of the aforementioned user-configurable track sections use maleconnectors such as connector 115 (e.g., part number 22-28-8060 availablefrom Molex/Waldom Electronics Corporation, 2222 Wellington Court, Lisle,Ill. 60532-1682), shown clearly in FIGS. 25 and 26. The connectors 115mate with female connectors such as connector 112 (e.g., part numberPPTC061LGBN available from Sullins Electronics Incorporated, 801 E.Mission Road, San Marcos, Calif., 92069). The solder contacts such as114 and 117 of these connectors are formed as shown and surface mountsoldered to the traces on printed circuit board tracks, such as thetrack 110 in FIG. 26. They provide electrical and mechanical connectionsbetween adjacent track sections, as can be seen in FIG. 5 where twotrack sections 110 and 18 (shown from the bottom) are connected togethervia female connector 112 mated to male connector 138 and male connector115 mated to female connector 141. FIG. 28 is a side elevation view ofthe same track sections 110 and 18. FIG. 29 is a plan view of aninterface section of racetrack. One is required per racetrack to allowconnection of controllers, such as the controller of FIG. 33, and apower supply, such as the power supply of FIG. 34. It should be notedthat the straight sections of track do not necessarily requireguardrails for proper operation.

FIG. 21 is a plan view of a PCB track banked-curve section 100 in itspre-flexed/pre-banked state. The track sections are only about 0.025″thick FR-4 material. This material is very durable and flexible at thisthickness. FIG. 22 is an elevation view of the same. FIGS. 23 and 24 areplan and elevation views of the same section 100 after flexure to formthe banked curve. The flexible-PCB, banked-curve section 100 mates withthe other user-configurable track sections as previously described.

FIG. 31 is an elevation view of a PCB track configured as a loop section160. It is shown in plan view in FIG. 8 and in bottom plan view in FIG.32. The FR-4 piece 170 is fixed to the loop 166 to hold it in its loopedform. The loop track section 160 will mate with the otheruser-configurable track sections as previously described.

While particular embodiments and applications of the present inventionhave been illustrated and described, it is to be understood that theinvention is not limited to the precise construction and compositionsdisclosed herein and that various modifications, changes, and variationsmay be apparent from the foregoing descriptions without departing fromthe spirit and scope of the invention as defined in the appended claims.

1. A method of propelling a moveable toy object containing a permanentmagnet along a track having a series of electrical conductors spacedalong a desired path for said moveable object to be propelled along saidtrack, said conductors extending transversely across said desired path,said method comprising supplying electrical current to said multipleconductors to produce electromagnetic fields that extend above saidtrack to interact with said permanent magnet in said moveable object,controllably adjusting the supply of electrical current to saidconductors so that said electromagnetic fields change sequentially alongsaid track to propel said permanent magnet, and thus said moveableobject, along said desired path when said moveable object is placed onthe surface of said track.
 2. The method of claim 1 in which saidelectrical current supplied to each of said conductors is an alternatingcurrent that is out of phase with said electrical current supplied tothe next successive conductor.
 3. The method of claim 1 in which saidelectrical current supplied to each of said conductors is an alternatingcurrent with a variable frequency to permit the speed of said toy objectto be varied by varying said frequency.
 4. The toy of claim 1 in whichthe movable object does not require brushes or pick-up shoes.
 5. Amethod of propelling a moveable toy containing a permanent magnet alonga track having multiple electrical conductors, each with segments formedby electrically conductive traces of a printed circuit board andalternately extending transversely across a desired path for a moveableobject along said track, said method comprising supplying multiplephases of alternating current to said multiple conductors so that saidconductor segments alternately extending transversely across saiddesired path sequentially produce alternating polarity electromagneticfields extending above the surface of said track, along said desiredpath, and placing said moveable toy in proximity to the surface of saidtrack so that said permanent magnet in said toy interacts with saidalternating polarity electromagnetic fields to move said toy along saiddesired path by magnetic attraction and repulsion.
 6. The method ofclaim 5 in which said toy includes an electrically conductive coil thatinteracts with said electromagnetic fields to induce an electricalcurrent in said coil for powering electrical components on said moveableobject.
 7. The method of claim 5 wherein each of said conductor segmentscomprises multiple adjacent conductive traces of said printed circuitboard to collectively produce a common electromagnetic field around saidmultiple conductive traces.
 8. The method of claim 5 wherein saidmoveable object contains multiple magnetic elements.
 9. The method ofclaim 8 wherein said multiple magnetic elements comprise a Halbacharray.
 10. The method of claim 5 wherein said electrical current isreversibly supplied to said conductors in an alternative sequence sothat said toy can be moved along said path in either direction.
 11. Themethod of claim 5 wherein at least portions of said track includeconductive guardrails extending along the sides of said path, andsupplying electrical power to said guardrails to produce electromagneticfields around said guardrails to repel said toy from said guardrails.12. The method of claim 5 in which said electrical current supplied toeach of said conductors is an alternating current that is out of phasewith said electrical current supplied to the next successive conductor.13. The method of claim 5 in which said electrical current supplied toeach of said conductors is an alternating current with a variablefrequency to permit the speed of said toy object to be varied by varyingsaid frequency.